Changed the sample stuff to support extra link tool. Added simple tool to create eextra links (no detour support yet).

RecastDemo/Source/InputGeom.cpp

@@ -0,0 +1,173 @@
+//
+// Copyright (c) 2009 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include "Recast.h"
+#include "RecastLog.h"
+#include "InputGeom.h"
+#include "ChunkyTriMesh.h"
+#include "MeshLoaderObj.h"
+
+
+
+static bool intersectSegmentTriangle(const float* sp, const float* sq,
+									 const float* a, const float* b, const float* c,
+									 float &t)
+{
+	float v, w;
+	float ab[3], ac[3], qp[3], ap[3], norm[3], e[3];
+	vsub(ab, b, a);
+	vsub(ac, c, a);
+	vsub(qp, sp, sq);
+	
+	// Compute triangle normal. Can be precalculated or cached if
+	// intersecting multiple segments against the same triangle
+	vcross(norm, ab, ac);
+	
+	// Compute denominator d. If d <= 0, segment is parallel to or points
+	// away from triangle, so exit early
+	float d = vdot(qp, norm);
+	if (d <= 0.0f) return false;
+	
+	// Compute intersection t value of pq with plane of triangle. A ray
+	// intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
+	// dividing by d until intersection has been found to pierce triangle
+	vsub(ap, sp, a);
+	t = vdot(ap, norm);
+	if (t < 0.0f) return false;
+	if (t > d) return false; // For segment; exclude this code line for a ray test
+	
+	// Compute barycentric coordinate components and test if within bounds
+	vcross(e, qp, ap);
+	v = vdot(ac, e);
+	if (v < 0.0f || v > d) return false;
+	w = -vdot(ab, e);
+	if (w < 0.0f || v + w > d) return false;
+	
+	// Segment/ray intersects triangle. Perform delayed division
+	t /= d;
+	
+	return true;
+}
+
+
+
+InputGeom::InputGeom() :
+	m_chunkyMesh(0),
+	m_mesh(0),
+	m_nlinks(0)
+{
+}
+
+InputGeom::~InputGeom()
+{
+	delete m_chunkyMesh;
+	delete m_mesh;
+}
+		
+bool InputGeom::loadMesh(const char* filepath)
+{
+	if (m_mesh)
+	{
+		delete m_chunkyMesh;
+		m_chunkyMesh = 0;
+		delete m_mesh;
+		m_mesh = 0;
+		m_nlinks = 0;
+	}
+	
+	m_mesh = new rcMeshLoaderObj;
+	if (!m_mesh)
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "loadMesh: Out of memory 'm_mesh'.");
+		return false;
+	}
+	if (!m_mesh->load(filepath))
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath);
+		return false;
+	}
+
+	rcCalcBounds(m_mesh->getVerts(), m_mesh->getVertCount(), m_meshBMin, m_meshBMax);
+
+	m_chunkyMesh = new rcChunkyTriMesh;
+	if (!m_chunkyMesh)
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: Out of memory 'm_chunkyMesh'.");
+		return false;
+	}
+	if (!rcCreateChunkyTriMesh(m_mesh->getVerts(), m_mesh->getTris(), m_mesh->getTriCount(), 256, m_chunkyMesh))
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: Failed to build chunky mesh.");
+		return false;
+	}		
+
+	return true;
+}
+		
+bool InputGeom::raycastMesh(float* src, float* dst, float& tmin)
+{
+	float dir[3];
+	vsub(dir, dst, src);
+	
+	int nt = m_mesh->getTriCount();
+	const float* verts = m_mesh->getVerts();
+	const float* normals = m_mesh->getNormals();
+	const int* tris = m_mesh->getTris();
+	tmin = 1.0f;
+	bool hit = false;
+	
+	for (int i = 0; i < nt*3; i += 3)
+	{
+		const float* n = &normals[i];
+		if (vdot(dir, n) > 0)
+			continue;
+		
+		float t = 1;
+		if (intersectSegmentTriangle(src, dst,
+									 &verts[tris[i]*3],
+									 &verts[tris[i+1]*3],
+									 &verts[tris[i+2]*3], t))
+		{
+			if (t < tmin)
+				tmin = t;
+			hit = true;
+		}
+	}
+	
+	return hit;
+}
+
+void InputGeom::addExtraLink(const float* spos, const float* epos)
+{
+	if (m_nlinks >= MAX_LINKS) return;
+	ExtraLink* link = &m_links[m_nlinks++];
+	vcopy(link->spos, spos);
+	vcopy(link->epos, epos);
+}
+
+void InputGeom::deleteExtraLink(int i)
+{
+	m_nlinks--;
+	m_links[i] = m_links[m_nlinks];
+}